File size: 2,267 Bytes
c42c446 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 | """Download the LAFAN1 G1 subset from the Hugging Face Hub.
Pulls only the G1 motion CSVs, the G1 URDF + meshes (needed by
``visualize.py`` to render the source ghost), and dataset metadata.
Usage:
uv run scripts/download_lafan.py
uv run scripts/download_lafan.py --clip 'walk.*subject1'
uv run scripts/download_lafan.py --force
"""
import re
import sys
from pathlib import Path
import numpy as np
import tyro
from huggingface_hub import snapshot_download
sys.path.insert(0, str(Path(__file__).resolve().parent))
from common import G1_LAFAN_JOINT_NAMES, LAFAN_REPO_ID # noqa: E402
CACHE_ROOT: Path = Path(__file__).resolve().parent.parent / ".cache" / "lafan1_g1"
ALLOW_PATTERNS: list[str] = [
"g1/*.csv",
"robot_description/g1/**",
"meta_data/**",
"README.md",
"LICENSE",
]
def main(clip: str | None = None, force: bool = False) -> None:
"""Download the LAFAN1 G1 subset into ``.cache/lafan1_g1/``.
Args:
clip: Regex; if given, the smoke check only inspects matching CSVs.
The download itself always pulls every G1 CSV — restricting at
``snapshot_download`` would defeat the cache for later runs.
force: Re-download even if files already exist.
"""
CACHE_ROOT.mkdir(parents=True, exist_ok=True)
local_path = Path(snapshot_download(
repo_id=LAFAN_REPO_ID,
repo_type="dataset",
local_dir=str(CACHE_ROOT),
allow_patterns=ALLOW_PATTERNS,
force_download=force,
))
csvs = sorted((local_path / "g1").glob("*.csv"))
if clip is not None:
csvs = [p for p in csvs if re.search(clip, p.stem)]
if not csvs:
raise SystemExit(f"No G1 CSVs found under {local_path / 'g1'} (clip={clip!r}).")
raw = np.loadtxt(csvs[0], delimiter=",", dtype=np.float32)
expected = 7 + len(G1_LAFAN_JOINT_NAMES)
if raw.ndim != 2 or raw.shape[1] != expected:
raise SystemExit(
f"Schema check failed on {csvs[0]}: expected {expected} cols, got {raw.shape}"
)
print(f"LAFAN1 G1 subset → {local_path}")
print(f" csvs : {len(csvs)}")
print(f" sample : {csvs[0].name} ({raw.shape[0]} frames @ 30 FPS, {raw.shape[1]} cols)")
if __name__ == "__main__":
tyro.cli(main)
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